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<div class="title">ndIkJointSpherical.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/* Copyright (c) &lt;2003-2022&gt; &lt;Newton Game Dynamics&gt;</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">* This software is provided &#39;as-is&#39;, without any express or implied</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">* warranty. In no event will the authors be held liable for any damages</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">* arising from the use of this software.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">* </span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">* Permission is granted to anyone to use this software for any purpose,</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">* including commercial applications, and to alter it and redistribute it</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">* freely</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#ifndef __ND_IK_JOINT_SPHERICAL_H__</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#define __ND_IK_JOINT_SPHERICAL_H__</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;ndNewtonStdafx.h&quot;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;ndJointSpherical.h&quot;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classnd_ik_joint_spherical.html">   18</a></span>&#160;<span class="keyword">class </span><a class="code" href="classnd_ik_joint_spherical.html">ndIkJointSpherical</a>: <span class="keyword">public</span> <a class="code" href="classnd_joint_spherical.html">ndJointSpherical</a>, <span class="keyword">public</span> <a class="code" href="classnd_joint_bilateral_constraint_1_1nd_ik_interface.html">ndJointBilateralConstraint::ndIkInterface</a></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;{</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    D_CLASS_REFLECTION(<a class="code" href="classnd_ik_joint_spherical.html">ndIkJointSpherical</a>);</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    D_NEWTON_API <a class="code" href="classnd_ik_joint_spherical.html">ndIkJointSpherical</a>(<span class="keyword">const</span> <a class="code" href="classnd_load_save_base_1_1nd_load_descriptor.html">ndLoadSaveBase::ndLoadDescriptor</a>&amp; desc);</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    D_NEWTON_API <a class="code" href="classnd_ik_joint_spherical.html">ndIkJointSpherical</a>(<span class="keyword">const</span> <a class="code" href="classnd_matrix.html">ndMatrix</a>&amp; pinAndPivotFrame, <a class="code" href="classnd_body_kinematic.html">ndBodyKinematic</a>* <span class="keyword">const</span> child, <a class="code" href="classnd_body_kinematic.html">ndBodyKinematic</a>* <span class="keyword">const</span> parent);</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    D_NEWTON_API <span class="keyword">virtual</span> ~<a class="code" href="classnd_ik_joint_spherical.html">ndIkJointSpherical</a>();</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="comment">// inverse dynamics interface</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    D_ADD_IK_INTERFACE();</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    D_NEWTON_API <span class="keywordtype">void</span> SubmitAccel(<span class="keyword">const</span> <a class="code" href="classnd_matrix.html">ndMatrix</a>&amp; matrix0, <span class="keyword">const</span> <a class="code" href="classnd_matrix.html">ndMatrix</a>&amp; matrix1, <a class="code" href="classnd_constraint_descritor.html">ndConstraintDescritor</a>&amp; desc);</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    D_NEWTON_API <span class="keywordtype">void</span> JacobianDerivative(<a class="code" href="classnd_constraint_descritor.html">ndConstraintDescritor</a>&amp; desc);</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    D_NEWTON_API <span class="keywordtype">void</span> Save(<span class="keyword">const</span> <a class="code" href="classnd_load_save_base_1_1nd_save_descriptor.html">ndLoadSaveBase::ndSaveDescriptor</a>&amp; desc) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    D_NEWTON_API <span class="keywordtype">void</span> DebugJoint(<a class="code" href="classnd_constraint_debug_callback.html">ndConstraintDebugCallback</a>&amp; debugCallback) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;};</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#endif </span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
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<div class="ttc" id="aclassnd_joint_bilateral_constraint_1_1nd_ik_interface_html"><div class="ttname"><a href="classnd_joint_bilateral_constraint_1_1nd_ik_interface.html">ndJointBilateralConstraint::ndIkInterface</a></div><div class="ttdef"><b>Definition:</b> ndJointBilateralConstraint.h:65</div></div>
<div class="ttc" id="aclassnd_joint_spherical_html"><div class="ttname"><a href="classnd_joint_spherical.html">ndJointSpherical</a></div><div class="ttdef"><b>Definition:</b> ndJointSpherical.h:23</div></div>
<div class="ttc" id="aclassnd_constraint_descritor_html"><div class="ttname"><a href="classnd_constraint_descritor.html">ndConstraintDescritor</a></div><div class="ttdef"><b>Definition:</b> ndConstraint.h:179</div></div>
<div class="ttc" id="aclassnd_constraint_debug_callback_html"><div class="ttname"><a href="classnd_constraint_debug_callback.html">ndConstraintDebugCallback</a></div><div class="ttdef"><b>Definition:</b> ndConstraint.h:42</div></div>
<div class="ttc" id="aclassnd_body_kinematic_html"><div class="ttname"><a href="classnd_body_kinematic.html">ndBodyKinematic</a></div><div class="ttdef"><b>Definition:</b> ndBodyKinematic.h:40</div></div>
<div class="ttc" id="aclassnd_matrix_html"><div class="ttname"><a href="classnd_matrix.html">ndMatrix</a></div><div class="ttdef"><b>Definition:</b> ndMatrix.h:42</div></div>
<div class="ttc" id="aclassnd_ik_joint_spherical_html"><div class="ttname"><a href="classnd_ik_joint_spherical.html">ndIkJointSpherical</a></div><div class="ttdef"><b>Definition:</b> ndIkJointSpherical.h:19</div></div>
<div class="ttc" id="aclassnd_load_save_base_1_1nd_load_descriptor_html"><div class="ttname"><a href="classnd_load_save_base_1_1nd_load_descriptor.html">ndLoadSaveBase::ndLoadDescriptor</a></div><div class="ttdef"><b>Definition:</b> ndSaveLoadSytem.h:59</div></div>
<div class="ttc" id="aclassnd_load_save_base_1_1nd_save_descriptor_html"><div class="ttname"><a href="classnd_load_save_base_1_1nd_save_descriptor.html">ndLoadSaveBase::ndSaveDescriptor</a></div><div class="ttdef"><b>Definition:</b> ndSaveLoadSytem.h:93</div></div>
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